// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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#ifndef G2O_LASER_PARAMETERS_H
#define G2O_LASER_PARAMETERS_H

#include "g2o/types/slam2d/se2.h"
#include "g2o_types_data_api.h"

namespace g2o {

/**
 * \brief parameters for a 2D range finder
 */
struct G2O_TYPES_DATA_API LaserParameters {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  LaserParameters(int type, int beams, number_t firstBeamAngle,
                  number_t angularStep, number_t maxRange, number_t accuracy,
                  int remissionMode, number_t minRange = 0);
  LaserParameters(int beams, number_t firstBeamAngle, number_t angularStep,
                  number_t maxRange, number_t minRange = 0);
  SE2 laserPose;
  int type;
  number_t firstBeamAngle;
  number_t fov;
  number_t angularStep;
  number_t accuracy;
  int remissionMode;
  number_t maxRange;
  number_t minRange;
};

}  // namespace g2o

#endif
